conPAS/conPAS2: Temporal logic control of Piecewise Affine Systems

Introduction

conPAS is a computational tool for automatic synthesis of feedback control strategies for a piecewise affine (PWA) system from specifications given as Linear Temporal Logic (LTL) formulas. conPAS consists of two main steps: First, by defining appropriate partitions for its state and input spaces, it construct a finite abstraction of the PWA system in the form of a control transition system. Second, by leveraging ideas and techniques from Buchi games and qualitative probabilistic LTL model checking, it generates a control strategy for the finite abstraction. The tool conPAS handles only specifications that can be expressed as deterministic Buchi automata, while its extension conPAS2 can handle arbitrary LTL formulas through a translation to deterministic Rabin automata. While provably correct and robust to small perturbations in both state measurements and applied controls, both procedure are conservative and expensive.

Download

Installation

1) Download the conPAS or conPAS2 package
2) If downloading conPAS2 only (no dependencies as in the newest available version)
a) download the required external toolboxes (specifically, MPT) and
b) link and initalize the toolboxes (addpath(genpath(path_to_mpt)); mpt_init)